Otimização de reator sequencial em batelada para remoção biológica de carbono e nitrogênio com controle difuso

Este trabalho apresenta a estruturação de um controle difuso, para a automação de reatores seqüenciais em batelada (RSB), no processo de remoção biológica de matéria orgânica e nitrogênio em águas residuárias domésticas, utilizando parâmetros inferenciais, pH, ORP e OD, em que as variáveis controladas foram as durações da reação aeróbia e anóxica. O experimento, em escala de bancada, foi composto por dois reatores seqüenciais em batelada, com volume útil de 10 L, no qual 6 L foram alimentados com esgoto sintético, com características de águas residuárias domésticas. O sistema de automação foi composto pela aquisição dos parâmetros eletroquímicos (pH, ORP e OD), pelos dispositivos atuadores (motor-bomba, aerador e misturador) e pelo controle predeterminado ou difuso. O programa computacional CONRSB foi implementado de forma a integrar o sistema de automação. O controle difuso, implementado, foi constituído pelos procedimentos de: normalização, nebulização, inferência, desnebulização e desnormalização. As variáveis de entrada para o controlador difuso, durante o período: aeróbio foram dpH/dt, dpH/d(t-1) e o pH ; anóxico foram dORP/dt, dORP/d(t-1) e o OD. As normalizações das variáveis crisps estiveram no universo de [0,1], utilizando os valores extremos do ciclo 1 ao 70. Nas nebulizações foram aplicadas as funções triangulares, as quais representaram, satisfatoriamente, as indeterminações dos parâmetros. A inferência nebulosa foi por meio da base heurística (regras), com amparo do especialista, em que a implicação de Mamdani foi aplicada Nessas implicações foram utilizadas dezoito expressões simbólicas para cada período, aeróbio e anóxico. O método de desnebulização foi pelo centro de áreas, que se mostrou eficaz em termos de tempo de processamento. Para a sintonia do controlador difuso empregou-se o programa computacional MATLAB, juntamente com as rotinas Fuzzy logic toolbox e o Simulink. O intervalo entre as atuações do controlador difuso, ficou estabelecido em 5,0 minutos, sendo obtido por meio de tentativas. A operação do RSB 1, durante os 85 ciclos, apresentou a relação média DBO/NTK de 4,67 mg DBO/mg N, sendo classificado como processo combinado de oxidação de carbono e nitrificação. A relação média alimento/microrganismo foi de 0,11 kg DBO/kg sólido suspenso volátil no licor misto.dia, enquadrando nos sistemas com aeração prolongada, em que a idade do lodo correspondeu aos 29 dias. O índice volumétrico do lodo médio foi de 117,5 mL/g, indicando uma sedimentação com características médias. As eficiências médias no processo de remoção de carbono e nitrogênio foram de 90,8% (como DQO) e 49,8%, respectivamente. As taxas específicas médias diárias, no processo de nitrificação e desnitrificação, foram de 24,2g N/kg SSVLM.dia e 15,5 g N/kg SSVLM.dia, respectivamente. O monitoramento, em tempo real, do pH, ORP e OD, mostrou ter um grande potencial no controle dos processos biológicos, em que o pH foi mais representativo no período aeróbio, sendo o ORP e o OD mais representativos no período anóxico. A operação do RSB com o controlador difuso, apresentou do ciclo 71 ao 85, as eficiências médias no processo de remoção de carbono e nitrogênio de 96,4% (como DQO) e 76,4%, respectivamente. A duração média do período aeróbio foi de 162,1 minutos, que tomando como referência o período máximo de 200,0 minutos, reduziu em 19,0% esses períodos. A duração média do período anóxico foi de 164,4 minutos, que tomando como referência o período máximo de 290,0 minutos, apresentou uma redução de 43,3%, mostrando a atuação robusta do controlador difuso. O estudo do perfil temporal, no ciclo 85, mostrou a atuação efetiva do controlador difuso, associada aos pontos de controle nos processos biológicos do RSB. Nesse ciclo, as taxas máximas específicas de nitrificação e desnitrificação observadas, foram de 32,7 g NO3 --N/kg sólido suspenso volátil no licor misto.dia e 43,2g NO3 --N/kg sólido suspenso volátil no licor misto.dia, respectivamente.

Suspeição e impedimento nos processos objetivos de controle de constitucionalidade concentrado

O Brasil adota o sistema hibrido de controle de constitucionalidade, englobando tanto a modalidade difusa como a concentrada. O objeto do trabalho é o controle concentrado, que se caracteriza por um processo objetivo onde inexistem partes em sentido formal e conflito de interesses subjetivos. Aprioristicamente, a objetividade dá a entender que institutos que dizem respeito à subjetividade do julgador, como o impedimento e a suspeição, não seriam aplicáveis. O posicionamento do Supremo Tribunal Federal se aproxima desta concepção, aceitando hipóteses muito restritas de aplicação do impedimento e rechaçando a incidência da suspeição. Esta posição reclama urgente revisão por parte da Corte pelas razões expostas e estudos de julgados apresentados no trabalho.

Gráficos de controle para variáveis

Unidade 6

Controle aplicado a poços com método de elevação e bombeio centrífugo submerso

The Electrical Submersible Pumping is an artificial lift method for oil wells employed in onshore and offshore areas. The economic revenue of the petroleum production in a well depends on the oil flow and the availability of lifting equipment. The fewer the failures, the lower the revenue shortfall and costs to repair it. The frequency with which failures occur depends on the operating conditions to which the pumps are submitted. In high-productivity offshore wells monitoring is done by operators with engineering support 24h/day, which is not economically viable for the land areas. In this context, the automation of onshore wells has clear economic advantages. This work proposes a system capable of automatically control the operation of electrical submersible pumps, installed in oil wells, by an adjustment at the electric motor rotation based on signals provided by sensors installed on the surface and subsurface, keeping the pump operating within the recommended range, closest to the well s potential. Techniques are developed to estimate unmeasured variables, enabling the automation of wells that do not have all the required sensors. The automatic adjustment, according to an algorithm that runs on a programmable logic controller maintains the flow and submergence within acceptable parameters avoiding undesirable operating conditions, as the gas interference and high engine temperature, without need to resort to stopping the engine, which would reduce the its useful life. The control strategy described, based on modeling of physical phenomena and operational experience reported in literature, is materialized in terms of a fuzzy controller based on rules, and all generated information can be accompanied by a supervisory system

A objetivação do controle concreto de constitucionalidade nas decisões do Supremo Tribunal Federal

The independence of the United States and the revolutions that emerged in Europe in the eighteenth century led to the birth of the written constitution, with a mission to limit the power of the State and to ensure fundamental rights to citizens. Thus, the Constitution has become the norm and ultimate founding of the State. Because of this superiority felt the need to protect her, emerging from that constitutional jurisdiction, taking control of constitutionality of provisions his main instrument. In Brazil, the constitutionality control began with the Constitution of 1891, when "imported" the American model, which is named after incidental diffuse model of judicial review. Indeed, allowed that any judge or court could declare the unconstitutionality of the law or normative act in a concrete case. However, the Brazilian Constituent did not bring the U.S. Institute of stare decisis, by which the precedents of higher courts eventually link the below. Because of this lack, each tribunal Brazilian freely decide about the constitutionality of a rule, so that the decision took effect only between the parties to the dispute. This prompted the emergence of conflicting decisions between judicantes organs, which ultimately undermine legal certainty and the image of the judiciary. As a solution to the problem, was incorporated from the 1934 Constitution to rule that the Senate would suspend the law declared unconstitutional by the Supreme Court. With the introduction of abstract control of constitutionality, since 1965, the Supreme Court went on to also have the power to declare the invalidity of the provision unconstitutional, effectively against all without the need for the participation of the Senate. However, it remained the view that in case the Supreme Court declared the unconstitutionality of the fuzzy control law by the Senate would continue with the competence to suspend the law unconstitutional, thus the decision of the Praetorium Exalted restricted parties. The 1988 Constitution strengthened the abstract control expanding legitimized the Declaratory Action of Unconstitutionality and creating new mechanisms of abstract control. Adding to this, the Constitutional Amendment. No. 45/2004 brought the requirement of general repercussion and created the Office of Binding Precedent, both to be applied by the Supreme Court judgments in individual cases, thus causing an approximation between the control abstract and concrete constitutional. Saw themselves so that the Supreme Court, to be the guardian of the Constitution, its action should be directed to the trial of issues of public interest. In this new reality, it becomes more necessary the participation of the Senate to the law declared unconstitutional in fuzzy control by the Supreme Court can reach everyone, because such an interpretation has become obsolete. So, to adapt it to this reality, such a rule must be read in the sense that the Senate give publicity to the law declared unconstitutional by the Supreme Court, since mutated constitutional

Doses e horário de aplicação do diquat no controle de Eichhornia crassipes

O aguapé (Eichhornia crassipes) é uma das mais importantes macrófitas aquáticas que colonizam reservatórios e corpos hídricos nas regiões tropicais e subtropicais do mundo, causando uma série de interferências no uso múltiplo da água e do corpo hídrico e no controle de vetores de doenças humanas. Para evitar prejuízos econômicos, sociais, estéticos e ao meio ambiente, essas plantas são controladas por vários métodos, incluindo o controle químico com o uso de herbicidas. Com o objetivo de avaliar a eficácia do herbicida diquat no controle dessa macrófita aquática, foram instalados dois ensaios em casa de vegetação. No primeiro, foram comparadas duas formulações (Reward® e Reglone®) aplicadas em dois horários (diurno e noturno) e em quatro doses (0,1, 0,2, 0,3 e 0,4 kg ha-1), num esquema fatorial 2 x 2 x 4, com seis repetições. Os resultados mostraram que a formulação Reward® foi mais eficiente no controle dessa macrófita, agindo mais rapidamente, sobretudo em menores doses, e que as aplicações realizadas no período noturno apresentavam melhor desempenho no controle em relação às realizadas no período diurno. Assim, um segundo ensaio foi realizado utilizando apenas a formulação Reward®, comparando a aplicação no período noturno e no diurno e as doses de 0,1, 0,2, 0,3 e 0,4 kg ha-1, obedecendo a um esquema fatorial 2 x 4. As plantas de aguapé foram cultivadas em caixas-d'água, e o delineamento experimental adotado foi em blocos ao acaso com quatro repetições, considerando a posição das caixas dentro da casa de vegetação. Os resultados confirmaram que o diquat é eficiente no controle do aguapé, principalmente nas doses de 0,3 e 0,4 kg ha¹ em aplicações noturnas. Doses baixas e aplicações diurnas não impediram intensas rebrotas das plantas afetadas.

Controle vetorial de velocidade de uma máquina de indução sem mancais trifásica com bobinado dividido utilizando estimação neural de fluxo

This work describes the study and the implementation of the vector speed control for a three-phase Bearingless induction machine with divided winding of 4 poles and 1,1 kW using the neural rotor flux estimation. The vector speed control operates together with the radial positioning controllers and with the winding currents controllers of the stator phases. For the radial positioning, the forces controlled by the internal machine magnetic fields are used. For the radial forces optimization , a special rotor winding with independent circuits which allows a low rotational torque influence was used. The neural flux estimation applied to the vector speed controls has the objective of compensating the parameter dependences of the conventional estimators in relation to the parameter machine s variations due to the temperature increases or due to the rotor magnetic saturation. The implemented control system allows a direct comparison between the respective responses of the speed and radial positioning controllers to the machine oriented by the neural rotor flux estimator in relation to the conventional flux estimator. All the system control is executed by a program developed in the ANSI C language. The DSP resources used by the system are: the Analog/Digital channels converters, the PWM outputs and the parallel and RS-232 serial interfaces, which are responsible, respectively, by the DSP programming and the data capture through the supervisory system

Controle adaptativo robusto para um modelo desacoplado de um robô móvel

This thesis presents a new structure of robust adaptive controller applied to mobile robots (surface mobile robot) with nonholonomic constraints. It acts in the dynamics and kinematics of the robot, and it is split in two distinct parts. The first part controls the robot dynamics, using variable structure model reference adaptive controllers. The second part controls the robot kinematics, using a position controller, whose objective is to make the robot to reach any point in the cartesian plan. The kinematic controller is based only on information about the robot configuration. A decoupling method is adopted to transform the linear model of the mobile robot, a multiple-input multiple-output system, into two decoupled single-input single-output systems, thus reducing the complexity of designing the controller for the mobile robot. After that, a variable structure model reference adaptive controller is applied to each one of the resulting systems. One of such controllers will be responsible for the robot position and the other for the leading angle, using reference signals generated by the position controller. To validate the proposed structure, some simulated and experimental results using differential drive mobile robots of a robot soccer kit are presented. The simulator uses the main characteristics of real physical system as noise and non-linearities such as deadzone and saturation. The experimental results were obtained through an C++ program applied to the robot soccer kit of Microrobot team at the LACI/UFRN. The simulated and experimental results are presented and discussed at the end of the text

Estrutura ANFIS modificada para identificação e controle de plantas com ampla faixa de operação e não linearidade acentuada

In this work a modification on ANFIS (Adaptive Network Based Fuzzy Inference System) structure is proposed to find a systematic method for nonlinear plants, with large operational range, identification and control, using linear local systems: models and controllers. This method is based on multiple model approach. This way, linear local models are obtained and then those models are combined by the proposed neurofuzzy structure. A metric that allows a satisfactory combination of those models is obtained after the structure training. It results on plant s global identification. A controller is projected for each local model. The global control is obtained by mixing local controllers signals. This is done by the modified ANFIS. The modification on ANFIS architecture allows the two neurofuzzy structures knowledge sharing. So the same metric obtained to combine models can be used to combine controllers. Two cases study are used to validate the new ANFIS structure. The knowledge sharing is evaluated in the second case study. It shows that just one modified ANFIS structure is necessary to combine linear models to identify, a nonlinear plant, and combine linear controllers to control this plant. The proposed method allows the usage of any identification and control techniques for local models and local controllers obtaining. It also reduces the complexity of ANFIS usage for identification and control. This work has prioritized simpler techniques for the identification and control systems to simplify the use of the method

Técnicas inteligentes hídridas para o controle de sistemas não lineares

A neuro-fuzzy system consists of two or more control techniques in only one structure. The main characteristic of this structure is joining one or more good aspects from each technique to make a hybrid controller. This controller can be based in Fuzzy systems, artificial Neural Networks, Genetics Algorithms or rein forced learning techniques. Neuro-fuzzy systems have been shown as a promising technique in industrial applications. Two models of neuro-fuzzy systems were developed, an ANFIS model and a NEFCON model. Both models were applied to control a ball and beam system and they had their results and needed changes commented. Choose of inputs to controllers and the algorithms used to learning, among other information about the hybrid systems, were commented. The results show the changes in structure after learning and the conditions to use each one controller based on theirs characteristics

Controle inteligente de pressão para uma rede sem reservatório de abastecimento urbano de água

The sanitation companies from Brazil has a great challenge for the XXI century: seek to mitigate the rate of physical waste (water, chemicals and electricity) and financial waste caused by inefficient operating systems drinking water supply, considering that currently we already face, in some cases, the scarcity of water resources. The supply systems are increasingly complex as they seek to minimize waste and at the same time better serve the growing number of users. However, this technological change is to reduce the complexity of the challenges posed by the need to include users with higher quality and efficiency in services. A major challenge for companies of water supplies is to provide a good quality service contemplating reducing expenditure on electricity. In this situation we developed a research by a method that seeks to control the pressure of the distribution systems that do not have the tank in your setup and the water comes out of the well directly to the distribution system. The method of pressure control (intelligent control) uses fuzzy logic to eliminate the waste of electricity and the leaks from the production of pumps that inject directly into the distribution system, which causes waste of energy when the consumption of households is reduced causing the saturation of the distribution system. This study was conducted at Green Club II condominium, located in the city of Parnamirim, state of Rio Grande do Norte, in order to study the pressure behavior of the output of the pump that injects water directly into the distribution system. The study was only possible because of the need we had to find a solution to some leaks in the existing distribution system and the extensions of the respective condominium residences, which sparked interest in developing a job in order to carry out the experiments contained in this research

Desenvolvimento de esquema de controle com realimentação visual para um robô manipulador

This work proposes a kinematic control scheme, using visual feedback for a robot arm with five degrees of freedom. Using computational vision techniques, a method was developed to determine the cartesian 3d position and orientation of the robot arm (pose) using a robot image obtained through a camera. A colored triangular label is disposed on the robot manipulator tool and efficient heuristic rules are used to obtain the vertexes of that label in the image. The tool pose is obtained from those vertexes through numerical methods. A color calibration scheme based in the K-means algorithm was implemented to guarantee the robustness of the vision system in the presence of light variations. The extrinsic camera parameters are computed from the image of four coplanar points whose cartesian 3d coordinates, related to a fixed frame, are known. Two distinct poses of the tool, initial and final, obtained from image, are interpolated to generate a desired trajectory in cartesian space. The error signal in the proposed control scheme consists in the difference between the desired tool pose and the actual tool pose. Gains are applied at the error signal and the signal resulting is mapped in joint incrementals using the pseudoinverse of the manipulator jacobian matrix. These incrementals are applied to the manipulator joints moving the tool to the desired pose

Algoritmos genéricos para otimização de uma arquitetura de controle inteligente híerárquico

A hierarchical fuzzy control scheme is applied to improve vibration suppression by using an electro-mechanical system based on the lever principle. The hierarchical intelligent controller consists of a hierarchical fuzzy supervisor, one fuzzy controller and one robust controller. The supervisor combines controllers output signal to generate the control signal that will be applied on the plant. The objective is to improve the performance of the electromechanical system, considering that the supervisor could take advantage of the different techniques based controllers. The robust controller design is based on a linear mathematical model. Genetic algorithms are used on the fuzzy controller and the supervisor tuning, which are based on non-linear mathematical model. In order to attest the efficiency of the hierarchical fuzzy control scheme, digital simulations were employed. Some comparisons involving the optimized hierarchical controller and the non-optimized hierarchical controller will be made to prove the efficiency of the genetic algorithms and the advantages of its use

Controle dinâmico de robôs móveis com acionamento diferencial

This work addresses the dynamic control problem of two-wheeled differentially driven non-holonomic mobile robot. Strategies for robot positioning control and robot orientating control are presented. Such strategies just require information about the robot con¯guration (x, y and teta), which can be collected by an absolute positioning system. The strategies development is related to a change on the controlled variables for such systems, from x, y and teta to s (denoting the robot linear displacement) and teta, and makes use of the polar coordinates representation for the robot kinematic model. Thus, it is possible to obtain a linear representation for the mobile robot dynamic model and to develop such strategies. It is also presented that such strategies allow the use of linear controllers to solve the control problem. It is shown that there is flexibility to choice the linear controller (P, PI, PID, Model Matching techniques, others) to be implemented. This work presents an introduction to mobile robotics and their characteristics followed by the control strategies development and controllers design. Finally, simulated and experimental results are presented and commented

Controle de Manipulador Redundante Utilizando Realimentação Visual

In conventional robot manipulator control, the desired path is specified in cartesian space and converted to joint space through inverse kinematics mapping. The joint references generated by this mapping are utilized for dynamic control in joint space. Thus, the end-effector position is, in fact, controlled indirectly, in open-loop, and the accuracy of grip position control directly depends on the accuracy of the available kinematic model. In this report, a new scheme for redundant manipulator kinematic control, based on visual servoing is proposed. In the proposed system, a robot image acquired through a CCD camera is processed in order to compute the position and orientation of each link of the robot arm. The robot task is specified as a temporal sequence of reference images of the robot arm. Thus, both the measured pose and the reference pose are specified in the same image space, and its difference is utilized to generate a cartesian space error for kinematic control purposes. The proposed control scheme was applied in a four degree-of-freedom planar redundant robot arm, experimental results are shown